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Vision and Motion Planning for a Mobile Robot under Uncertainty

Jun Miura, Yoshiaki Shirai
1997 The international journal of robotics research  
This paper proposes a planning method for a vision-guided mobile robot under vision uncertainty and limited computational resources.  ...  The first tradeoff is managed by predicting the plan quality for a granularity using a learned relationship between them, and by adaptively selecting the best granularity.  ...  Acknowledgments This work is supported in part by Grant-in-Aid for Scientific Research from Ministry of Education, Science, Sports, and Culture, Japanese Government and by the Okawa Foundation for Information  ... 
doi:10.1177/027836499701600606 fatcat:3p23hhk3e5cxzi7xnz2kk6kjfe

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Lei Cui
2015 Journal Electrical and Electronic Engineering  
using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control.  ...  This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude  ...  For the motion generation plan planning for mobile manipulators, since mobility is the main concern, the approaches are similar to motion planning for mobile robots.  ... 
doi:10.11648/j.jeee.20150305.20 fatcat:ssn7fk2dqnajxaczt77xg4dfre

On-line viewpoint and motion planning for efficient visual navigation under uncertainty

Inhyuk Moon, Jun Miura, Yoshiaki Shirai
1999 Robotics and Autonomous Systems  
This paper proposes an on-line viewpoint planning method for a mobile robot to reach a goal position safely and quickly.  ...  An experimental result using a mobile robot with stereo vision shows the validity of the proposed method.  ...  In this paper, we propose an on-line viewpoint and motion planning method for a vision-based mobile robot to reach a goal position safely and quickly under uncertainty.  ... 
doi:10.1016/s0921-8890(99)00020-2 fatcat:yepmy2oruzf2jgtgb2fmbkhula

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Mahmut Dirik, Oscar Castillo, Adnan Fatih Kocamaz
2019 Axioms  
Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties.  ...  We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot.  ...  Figure 1 . 1 System architecture of vision-based path planning for mobile robot.  ... 
doi:10.3390/axioms8020058 fatcat:iuejav6ezzcu3anowdo4rydnyu

Software and hardware architecture of advanced mobile robots for manufacturing

Michael Brady, Huosheng Hu
1997 Journal of experimental and theoretical artificial intelligence (Print)  
We discuss the questions posed for the workshop in light of our experience gained over the past seven years developing a succession of implemented mobile robots for application in industry, most notably  ...  We also discuss mobile robot projects that seem realistic over the next five to ten years.  ...  , and many people within the Oxford Robotics Research Group for contributing towards the project.  ... 
doi:10.1080/095281397147112 fatcat:ezhj2oxjpvecdfi7sekq5bm4vy

A transputer network for real-time control of an intelligent mobile robot

Hu, Brady, Du, Probert
1994 Proceedings of IEEE International Conference on Control and Applications CCA-94  
This paper describes a distributed transputer architecture used for real-time sensing and control of an intelligent mobile robot.  ...  Using this architecture, our mobile robot can navigate in our AGV Lab, plan an optimal path to reach the goal, and avoid unexpected obstacles in real time.  ...  Acknowledgements We wish to thank GEC Fast for the original loan of the AGV, the staff at GCS for their continuing help and encouragement, and many people within the Oxford Robotics Research Group for  ... 
doi:10.1109/cca.1994.381369 fatcat:2evqfoberndp7azpcs77zsfg3q

Stereo-Vision Mobile Robotics Navigation through Metric-Topological Learning

2013 Advances in Robotics & Automation  
related to the use of "FUZZY NAV: A Vision Based Robot Navigation Architecture using Fuzzy Inference for Uncertainty Reasoning", [1] .  ...  Summary Autonomous mobile robots should be capable to learn and maintain visual models of their environments. Maps are needed for path-planning, self-localization, and human-robot interaction.  ... 
doi:10.4172/2168-9695.1000e123 fatcat:4ykllwtxwbap7l4azojf5weo7m

From pixels to multi-robot decision-making: A study in uncertainty

Peter Stone, Mohan Sridharan, Daniel Stronger, Gregory Kuhlmann, Nate Kohl, Peggy Fidelman, Nicholas K. Jong
2006 Robotics and Autonomous Systems  
These contributions enable effective planning under uncertainty for robots engaged in goal-oriented behavior within a dynamic, collaborative and adversarial environment.  ...  We present a complete vision-based robotic system that includes several algorithms for learning models that are useful and necessary for planning, and then place particular emphasis on the planning and  ...  Acknowledgments This research is supported in part by NSF CAREER award IIS-0237699, ONR YIP award N00014-04-1-0545, and DARPA grant HR0011-04-1-0035.  ... 
doi:10.1016/j.robot.2006.05.010 fatcat:4oppmqjrvrhvzgzmfveeoi2peu

Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning

Jun Miura, Yoshiaki Shirai
2002 Journal of Robotics and Mechatronics  
This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning.  ...  Using this model, the best robot motion is selected in a decision-theoretic way. By considering the distribution, not the range, of uncertainty, more efficient behavior of the robot is realized.  ...  We suppose a vision-based mobile robot which uses stereo vision to detect obstacles and to measure their position and velocity.  ... 
doi:10.20965/jrm.2002.p0349 fatcat:a3holdbb6fbqdcrlwy2knanc2q

Vision-Based Grasp Planning and Experiments of a Mobile Manipulator

Yi-Fu Chiu, Kai-Tai Song
2015 Journal of Robotics, Networking and Artificial Life (JRNAL)  
In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object.  ...  In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning.  ...  Acknowledgements This work was partly supported by Ministry of Science and Technology of Taiwan, under grant NSC 102-2221-E-009-140.  ... 
doi:10.2991/jrnal.2015.1.4.3 fatcat:ixldc5zomzdyhmkbd6t37pyb7q

Sampling-Based Motion Planning With Sensing Uncertainty

Brendan Burns, Oliver Brock
2007 Proceedings 2007 IEEE International Conference on Robotics and Automation  
Sampling-based algorithms have dramatically improved the state of the art in robotic motion planning.  ...  We propose a utility-guided roadmap planner that incorporates uncertainty directly into the planning process.  ...  ACKNOWLEDGMENTS This work is supported in part by the National Science Foundation (NSF) under grants CNS-0454074, IIS-0545934, and MIT/NASA cooperative agreement NNJ05HB61A.  ... 
doi:10.1109/robot.2007.363984 dblp:conf/icra/BurnsB07a fatcat:xdzcjhdyvratxdaueigcmdqg54

Visually Grounded Task and Motion Planning for Mobile Manipulation [article]

Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, Shiqi Zhang
2022 arXiv   pre-print
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility.  ...  We have collected a dataset that includes 96,000 simulated trials of a robot conducting mobile manipulation tasks, and then used the dataset to learn to ground symbolic spatial relationships for action  ...  Peter Stone serves as the Executive Director of Sony AI America and receives financial compensation for this work.  ... 
arXiv:2202.10667v2 fatcat:6vsdpxcujvgljdbfok7heche2q

On the Sensor-Based Navigation for a Mobile Robot

Takashi Yoshioka, Hiroshi Noborio, Shoji Tominaga
2001 Journal of the Robotics Society of Japan  
Arimoto: •gA Feasible Motion-Planning Algorithm for a Mobile Robot on a Quadtree Representation,•h  ...  Uncertainty for 2d and 3d Two-Link Robot Arm Manipulators,•h J.  ... 
doi:10.7210/jrsj.19.991 fatcat:bgjtatis3jggjg75ypq6t6kmke

Gaze-Guided Control of an Autonomous Mobile Robot Using Type-2 Fuzzy Logic

Dirik, Castillo, Kocamaz
2019 Applied System Innovation  
This paper presents an intelligent vision-based gaze guided robot control (GGC) platform that uses a user-computer interface based on gaze tracking enables a user to control the motion of a mobile robot  ...  Motion control of mobile robots in a cluttered environment with obstacles is an important problem.  ...  Author Contributions: M.D. analyzed the original Mobile Robot motion control, visual servoing system and Gaze Guide control methods and applied Type-2 fuzzy logic for dynamic parameter adaptation applied  ... 
doi:10.3390/asi2020014 fatcat:2vhjlidunff6vnh7462yserria

The mind of a robot

Michael Brady, Huosheng Hu
1994 Philosophical Transactions of the Royal Society of London Series A Physical and Engineering Sciences  
We sketch the design of such an agent and discuss some of the issues that the design of such agents raises for intelligence and the mind.  ...  Work in robotics offers to the study of intelligence insights gleaned from building autonomous agents that operate purposefully in the real world.  ...  approach to address the problem of path planning with uncertainty for mobile robots.  ... 
doi:10.1098/rsta.1994.0110 fatcat:omx4nlplvfccdphyy3gnuo76za
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